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// Copyright (C) 2014 Davis E. King (davis@dlib.net)
// License: Boost Software License See LICENSE.txt for the full license.
#ifndef DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_
#define DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_
#include "track_association_function_abstract.h"
#include <vector>
#include <iostream>
#include "../algs.h"
#include "../serialize.h"
#include "assignment_function.h"
namespace dlib
{
// ----------------------------------------------------------------------------------------
template <
typename detection_type
>
class feature_extractor_track_association
{
public:
typedef typename detection_type::track_type track_type;
typedef typename track_type::feature_vector_type feature_vector_type;
typedef detection_type lhs_element;
typedef track_type rhs_element;
feature_extractor_track_association() : num_dims(0), num_nonnegative(0) {}
explicit feature_extractor_track_association (
unsigned long num_dims_,
unsigned long num_nonnegative_
) : num_dims(num_dims_), num_nonnegative(num_nonnegative_) {}
unsigned long num_features(
) const { return num_dims; }
unsigned long num_nonnegative_weights (
) const { return num_nonnegative; }
void get_features (
const detection_type& det,
const track_type& track,
feature_vector_type& feats
) const
{
track.get_similarity_features(det, feats);
}
friend void serialize (const feature_extractor_track_association& item, std::ostream& out)
{
serialize(item.num_dims, out);
serialize(item.num_nonnegative, out);
}
friend void deserialize (feature_extractor_track_association& item, std::istream& in)
{
deserialize(item.num_dims, in);
deserialize(item.num_nonnegative, in);
}
private:
unsigned long num_dims;
unsigned long num_nonnegative;
};
// ----------------------------------------------------------------------------------------
template <
typename detection_type_
>
class track_association_function
{
public:
typedef detection_type_ detection_type;
typedef typename detection_type::track_type track_type;
typedef assignment_function<feature_extractor_track_association<detection_type> > association_function_type;
track_association_function() {}
track_association_function (
const association_function_type& assoc_
) : assoc(assoc_)
{
}
const association_function_type& get_assignment_function (
) const
{
return assoc;
}
void operator() (
std::vector<track_type>& tracks,
const std::vector<detection_type>& dets
) const
{
std::vector<long> assignments = assoc(dets, tracks);
std::vector<bool> updated_track(tracks.size(), false);
// now update all the tracks with the detections that associated to them.
for (unsigned long i = 0; i < assignments.size(); ++i)
{
if (assignments[i] != -1)
{
tracks[assignments[i]].update_track(dets[i]);
updated_track[assignments[i]] = true;
}
else
{
track_type new_track;
new_track.update_track(dets[i]);
tracks.push_back(new_track);
}
}
// Now propagate all the tracks that didn't get any detections.
for (unsigned long i = 0; i < updated_track.size(); ++i)
{
if (!updated_track[i])
tracks[i].propagate_track();
}
}
friend void serialize (const track_association_function& item, std::ostream& out)
{
int version = 1;
serialize(version, out);
serialize(item.assoc, out);
}
friend void deserialize (track_association_function& item, std::istream& in)
{
int version = 0;
deserialize(version, in);
if (version != 1)
throw serialization_error("Unexpected version found while deserializing dlib::track_association_function.");
deserialize(item.assoc, in);
}
private:
assignment_function<feature_extractor_track_association<detection_type> > assoc;
};
// ----------------------------------------------------------------------------------------
}
#endif // DLIB_TRACK_ASSOCiATION_FUNCTION_Hh_
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